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boards: simplify RC port configuration by using NuttX ioctl's

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A board only needs to define:
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

Then it can optionally define one or more of the following:
 #define RC_SERIAL_SWAP_RXTX
 #define RC_SERIAL_SINGLEWIRE
 #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
This commit is contained in:
Beat Küng
2019-07-16 08:09:22 +02:00
parent 9a1ad97c11
commit b7a0e1ef03
18 changed files with 149 additions and 317 deletions
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src/drivers/boards/common/board_common.h
+58 -57
View File
@@ -46,6 +46,7 @@
#include <errno.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
/************************************************************************************
* Definitions
************************************************************************************/
@@ -453,32 +454,78 @@ typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
************************************************************************************/
__BEGIN_DECLS
/* Provide an interface for determining if a board supports single wire */
/************************************************************************************
* Name: board_supports_single_wire
* Name: board_rc_singlewire
*
* Description:
* A board may provide serial ports that supports single wire.
* This interface will call into the board support code to determine
* if the interface is available at runtime, on this version of the
* hardware.
* A board may define RC_SERIAL_SINGLEWIRE, so that RC_SERIAL_PORT is configured
* as singlewire UART.
*
* Input Parameters:
* uxart_base - the base address of the UxART.
* device: serial device, e.g. "/dev/ttyS0"
*
* Returned Value:
* true the hardware supports this interface.
* true singlewire should be enabled.
* false if not.
*
************************************************************************************/
#if !defined(BOARD_HAS_SINGLE_WIRE)
# define board_supports_single_wire(_uxart_base) false
#if defined(RC_SERIAL_SINGLEWIRE)
static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
#else
__EXPORT bool board_supports_single_wire(uint32_t uxart_base);
static inline bool board_rc_singlewire(const char *device) { return false; }
#endif
/************************************************************************************
* Name: board_rc_swap_rxtx
*
* Description:
* A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
* as UART with RX/TX swapped.
*
* Input Parameters:
* device: serial device, e.g. "/dev/ttyS0"
*
* Returned Value:
* true RX/RX should be swapped.
* false if not.
*
************************************************************************************/
#if defined(RC_SERIAL_SWAP_RXTX)
static inline bool board_rc_swap_rxtx(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
#else
static inline bool board_rc_swap_rxtx(const char *device) { return false; }
#endif
/************************************************************************************
* Name: board_rc_invert_input
*
* Description:
* All boards may optionally define RC_INVERT_INPUT(bool invert) that is
* used to invert the RC_SERIAL_PORT RC port (e.g. to toggle an external XOR via
* GPIO).
*
* Input Parameters:
* invert_on - A positive logic value, that when true (on) will set the HW in
* inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
*
* Returned Value:
* true the UART inversion got set.
*
************************************************************************************/
#ifdef RC_INVERT_INPUT
static inline bool board_rc_invert_input(const char *device, bool invert)
{
if (strcmp(device, RC_SERIAL_PORT) == 0) { RC_INVERT_INPUT(invert); return true; }
return false;
}
#else
static inline bool board_rc_invert_input(const char *device, bool invert) { return false; }
#endif
/* Provide an interface for reading the connected state of VBUS */
@@ -504,52 +551,6 @@ __EXPORT bool board_supports_single_wire(uint32_t uxart_base);
int board_read_VBUS_state(void);
#endif
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
* and external XOR controlled by a GPIO
*
* Input Parameters:
* invert_on - A positive logic value, that when true (on) will set the HW in
* inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
*
* Returned Value:
* None
*
************************************************************************************/
/* Provide an interface for Inversion of serial data
*
* Case 1:Board does provide UxART based inversion
* Use it, and it will define RC_UXART_BASE
*
* Case 1:Board does provide GPIO inversion
* Use it and let board determine active state
* Define RC_UXART_BASE as empty
*
* Case 3:Board does not provide any inversions
* Default to nop
* Define RC_UXART_BASE as empty
*/
#if defined(RC_UXART_BASE)
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base);
# define INVERT_RC_INPUT(_invert_true, _rc_uxart) board_rc_input((_invert_true), (_rc_uxart));
#endif
#if defined(BOARD_INVERT_RC_INPUT)
# define INVERT_RC_INPUT BOARD_INVERT_RC_INPUT
# define RC_UXART_BASE 0
#endif
#if !defined(INVERT_RC_INPUT)
# define INVERT_RC_INPUT(_invert_true, _na) while(0)
# define RC_UXART_BASE 0
#endif
/************************************************************************************
* Name: board_on_reset
*